Stock-based Compensation - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Number of Stock Options
Beginning balance (in shares) | shares	53,849,045
Granted (in shares) | shares	8,586,063
Exercised (in shares) | shares	(832,840)
Canceled or forfeited (in shares) | shares	(2,959,671)
Ending balance (in shares) | shares	58,642,597	53,849,045
Exercisable (in shares) | shares	30,365,614
Weighted- Average Exercise Price Per Share
Beginning balance (in dollars per share) | $ / shares	$ 5.09
Granted (in dollars per share) | $ / shares	2.23
Exercised (in dollars per share) | $ / shares	0.10
Cancelled or forfeited (in dollars per share) | $ / shares	5.12
Ending balance (in dollars per share) | $ / shares	4.74	$ 5.09
Exercisable (in dollars per share) | $ / shares	$ 4.77
Weighted- Average Remaining Contractual Life (in years)
Options Outstanding	7 years 8 months 23 days	7 years 10 months 2 days
Options Exercisable	6 years 7 months 9 days
Aggregate Intrinsic Value (in thousands)
Options Outstanding | $	$ 26,401	$ 24,887
Options Exercisable | $	$ 18,878